CN108858266A - Magnetic force handgrip - Google Patents
Magnetic force handgrip Download PDFInfo
- Publication number
- CN108858266A CN108858266A CN201810901364.5A CN201810901364A CN108858266A CN 108858266 A CN108858266 A CN 108858266A CN 201810901364 A CN201810901364 A CN 201810901364A CN 108858266 A CN108858266 A CN 108858266A
- Authority
- CN
- China
- Prior art keywords
- supporting arm
- pedestal
- magnetic force
- handgrip
- force handgrip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
Present invention discloses a kind of magnetic force handgrips, including：Pedestal, driving mechanism, gripper components, positioning element and separation unit.Pedestal is installed on a robotic arm, and pedestal has the supporting arm of several extensions, and the quantity of supporting arm and position are corresponding with the part grabbed.Driving mechanism drives pedestal mobile relative to material frame, and driving supporting arm is mobile relative to pedestal.Gripper components are mounted on supporting arm, and gripper components are electromagnetic components, and gripper components are by magnetic-adsorption on part.Positioning element includes location sensitive component and positioning component, and location sensitive component incudes the relative position of supporting arm and gripper components and part, and positioning component is positioned with part cooperation.Separation unit is mounted on supporting arm, and separation unit movement separates the part of phase adhesion, so that magnetic force handgrip only grabs a part every time.The magnetic force handgrip will do it part separation after crawl part every time, be suitable for stack material frame, and replace vacuum adsorption force with magnetic force.
Description
Technical field
The present invention relates to automobile manufacturing fields, automatic more specifically to being used on automotive automation manufacture assembly line
The equipment for grabbing part.
Background technique
Automotive automation manufactures on assembly line, and each station automatically grabs part by robot and assembled.Robot is every
One part of secondary crawl, grabs next part again after the assembly is completed.
On some stations, since part is plate-like, for example door components, these parts may lean on mutually when putting
It is close, it is complicated or when preceding working procedure oil residues generate oil film adhesion or other adhesive force in the type face of part, it is several
Part can be sticked together, may have simultaneously when once needing to grab a part at this time several parts can be sticked together and
It is crawled.Grabbing several parts will cause the work of station robot chaotic, or cause failure, so needing to avoid the occurrence of this
Kind situation.
To solve part lamination problem, optimization people track was once attempted in the prior art, it is desirable to grab first part simultaneously
The part of subsequent adhesion is got rid of during part out, but this method success rate is low, and will lead to subsequent parts elder generation harness and go out one section
Entering bin is fallen from newly after distance, position deviation is excessive, can not be identified again by vision system.
In the prior art, if the situation for being easy to appear part adhesion is related with the material frame of used part.For
There are mainly two types of the material framves for loading door components：Stack material frame and layering material frame.Part Close stack on stack material frame
It places, stack material frame structure is simple, and due to part Close stack, the number of parts that can be accommodated is more.Another kind is
Layer-stepping material frame is provided with notch on layer-stepping material frame, and each part is individually positioned in different card slots, realizes layering
Setting.Layering setting can guarantee non-interference between part, but be layered that material frame structure is relative complex, and manufacturing cost is high.And
The number of parts that layering material frame can accommodate is far less than stack material frame.
In the prior art, the handgrip for grabbing part mainly uses sucker to carry out adsorbent parts, i.e., by sucker after part, opens
Dynamic vacuum equipment extracts the air in sucker, is grabbed after part is sucked by sucker.If using layer-stepping material frame, due to zero
It is not interfered between part, sucker grabs the part after a part is sucked every time, therefore uses layer-stepping material frame, substantially not
It will appear the case where once grabbing multiple parts.But it is then entirely different using stack material frame.Part in stack material frame is tight
Close placement, abuts from each other.When in type face, complexity or preceding working procedure oil residues generate oil film adhesion, between part
Adhesive force is very big.And stack material frame only provides support to part, can not provide any power for separating part, therefore from heap
The case where it is easy to appear part adhesions when crawl part on stacked material frame, once grab multiple parts.
Since stack material frame is at low cost and part useful load is big, using effect in actual use is also an advantage over loading
Layer-stepping material frame small, at high cost is measured, then, can be responsible for separating the way of part in the prior art using additional special messenger.It is grabbing
Taking part is manually to be monitored, and is separated in time when discovery has part adhesion.But artificial monitoring efficiency is lower, is not also inconsistent
Close the developing direction of automated production.
In addition, using sucker as gripping tool there is also some defects, sucker needs to extract sky by vacuum equipment
Gas generates vacuum, to form adsorption capacity.On the assembly line of continuous work, the working strength of vacuum generator is very big, needs within 1 year
Consume the compressed air of hundreds of thousands of liters.The higher cost of one side compressed air, on the other hand high-intensitive use, for true
The loss of empty generator is also than more serious.
Summary of the invention
The present invention proposes a kind of handle component, replaces sucker using magnetic force, and can apply in stack material frame, energy
It is enough that the part of stacking is separated.
An embodiment according to the present invention proposes a kind of magnetic force handgrip, including：Pedestal, gripper components, is determined at driving mechanism
Position component and separation unit.Pedestal is installed on a robotic arm, and pedestal has the supporting arm of several extensions, the quantity of supporting arm and position
It sets corresponding with the part grabbed.Driving mechanism drives pedestal mobile relative to material frame, and driving supporting arm is relative to base
Seat is mobile.Gripper components are mounted on supporting arm, and gripper components are electromagnetic components, and gripper components are by magnetic-adsorption in part
On.Positioning element includes location sensitive component and positioning component, and location sensitive component incudes supporting arm and gripper components and part
Relative position, the cooperation of positioning component and part positioned.Separation unit is mounted on supporting arm, separation unit movement, will
The part of phase adhesion separates, so that magnetic force handgrip only grabs a part every time.
In one embodiment, the part of magnetic force handgrip crawl is door components, and the supporting arm on pedestal includes top branch
Bearing arm and lower section supporting arm, top supporting arm are mounted on the top of pedestal, and lower section supporting arm is mounted on the bottom of pedestal.
In one embodiment, the front end of supporting arm is equipped with end frame.
In one embodiment, gripper components include electromagnet and switch block, and several electromagnet are individually positioned in difference
In the electromagnet pedestal of moulding, electromagnet pedestal is mounted on the end frame of supporting arm front end.
In one embodiment, location sensitive component includes：Imaging sensor and sensors in place.Imaging sensor installation
On the end frame of supporting arm front end, imaging sensor obtains image information.Sensors in place is mounted on supporting arm front end
On end frame, sensors in place obtains location information.Supporting arm and gripper components are determined according to image information and location information
With the relative position of part.
In one embodiment, location sensitive component further includes light filling equipment, and light filling equipment is mounted on supporting arm front end
On end frame, light filling equipment provides light filling for imaging sensor.
In one embodiment, positioning component is positioning pin, and positioning pin is mounted on the end frame of supporting arm front end, fixed
Position pin cooperates with the location hole on part, and end frame and part are positioned.
In one embodiment, separation unit is mounted above on supporting arm, and separation unit includes separation cylinder and separation
Plectrum, separation plectrum have the conical nose extended downwardly, and separation cylinder driving separation plectrum moves down, conical nose insertion
Between the part of phase adhesion, the part of phase adhesion is separated.
In one embodiment, material frame is stack material frame.
In one embodiment, pedestal is installed on a robotic arm by connectivity port, and robot drives pedestal is relative to material
Frame carries out up and down or the movement of left and right, also driving supporting arm are moved forward and backward relative to pedestal.
Magnetic force handgrip of the invention increases the component of part separation, will do it part separation after crawl part every time,
Ensure only to grab a part every time.The magnetic force handgrip can be adapted for stack material frame, realize the automation of stack material frame
Work.And the handgrip replaces vacuum adsorption force with magnetic force, the reliability of magnetic part, use cost and service life are better than true
Empty component, therefore can further promote working efficiency and reliability.
Magnetic force handgrip of the invention does not increase while guaranteeing high vanning number especially suitable for common stack material frame
Expect frame cost of manufacture, logistic storage cost.Separating mechanism is simple and effective, cooperates extra quality detection sensor, and part is layered success rate
Reach 99% or more.Using magnetic force handgrip instead of conventional suction cups handgrip in the prior art, disappearing for compressed air is greatlyd save
Consumption, an annual compressed air consumption of vacuum generator reach hundreds of thousands of liters.
Detailed description of the invention
The above and other feature of the present invention, property and advantage will pass through description with reference to the accompanying drawings and examples
And become apparent, identical appended drawing reference always shows identical feature in the accompanying drawings, wherein：
Fig. 1 discloses the structure chart of the magnetic force handgrip of an embodiment according to the present invention.
Fig. 2 discloses the working condition of the magnetic force handgrip of an embodiment according to the present invention.
The magnetic force handgrip that Fig. 3 a, 3b, 3c and 3d disclose an embodiment according to the present invention shows what part was separated
It is intended to.
Specific embodiment
Refering to what is shown in Fig. 1, Fig. 1 discloses the structure chart of the magnetic force handgrip of an embodiment according to the present invention.The magnetic force is grabbed
Hand includes：Pedestal, driving mechanism, gripper components, positioning element and separation unit.
Pedestal 101 is installed on a robotic arm (manipulator is not shown), and pedestal 101 has the supporting arm 102 of several extensions, branch
The quantity of bearing arm 102 and position and the moulding of the part grabbed match.With reference to the working condition of magnetic force handgrip shown in Fig. 2
Schematic diagram.The magnetic force handgrip is applied to stack material frame.Pedestal 101 is installed on manipulator by connectivity port 104.In machinery
Under the drive of hand, pedestal 101 is moved adjacent to the position of stack material frame 201.In the illustrated embodiment, in stack material frame
It is being stacked on 201 and door components 301 can be by the part that magnetic force handgrip grabs.The quantity of supporting arm 102 on pedestal
Match with the position of arrangement and the moulding of door components 301.Specifically, supporting arm 102 is the reality of corresponding door components 301
The position close to four angles of body plate.Fig. 1 is returned to, the supporting arm 102 on pedestal 101 includes that top supporting arm and lower section support
Arm, top supporting arm are mounted on the top of pedestal 101, and lower section supporting arm is mounted on the lower part of pedestal 101.In the embodiment of diagram
In, end frame 121 is also equipped in the front end of the supporting arm 102 of part.End frame 121 will be before supporting arm 102
The mounting area at end expands, and the other components such as gripper components, positioning element can be installed on end frame 121.
Connectivity port 104 connects pedestal 101 with manipulator.By connectivity port 104, mechanical hand-motion pedestal and whole
The movement and positioning of a magnetic force handgrip.In one embodiment, manipulator drives pedestal relative to material frame by connectivity port 104
201 carry out upper and lower or left and right movement.Wherein, pedestal 101 move primarily to enable pedestal and material frame on stack
Part registration.Manipulator also passes through connectivity port 104 and supporting arm 102 is driven to be moved forward and backward relative to pedestal 101.Bearing
The back-and-forth motion of arm 102 enables gripper components close to part and is grabbed.
Gripper components are mounted on supporting arm, according to an embodiment of the invention, gripper components can be electromagnetic component, crawl
Component relies on magnetic-adsorption on part, without using the pull of vacuum of vacuum generator.In one embodiment, gripper components packet
Include electromagnet 105 and switch block (not shown).Several electromagnet 105 are individually positioned in the electromagnet pedestal of different shaping
In 151, electromagnet pedestal 151 is mounted on the end frame 121 of 102 front end of supporting arm.In the illustrated embodiment, according to zero
The electromagnet pedestal 151 of different shaping can be arranged in different positions in the moulding of part.For example, embodiment shown in Fig. 1
In, have in the electromagnet pedestal for being placed on rectangle, be arranged to in-line electromagnet, is also placed on circular electromagnet pedestal
In, arrange the electromagnet circularized.
Positioning element includes location sensitive component and positioning component.Location sensitive component incude supporting arm and gripper components with
The relative position of part, positioning component are positioned with part cooperation.In the embodiment shown in fig. 1, location sensitive component packet
Include imaging sensor 106, sensors in place 107 and light filling equipment 108.Imaging sensor 106 is mounted on 102 front end of supporting arm
On end frame 121, imaging sensor obtains image information.Imaging sensor 106 is usually CCD camera assembly.Sensors in place
107 are mounted on the end frame 121 of 102 front end of supporting arm.Sensors in place 107 is position sensor or close sensing
Device, for the relative position information between acquisition and part.When sensors in place is close to part, it can issue and believe in place automatically
Number.Light filling equipment 108 is mounted on the end frame 121 of 102 front end of supporting arm, and light filling equipment 108 is generally light compensating lamp, can be with
Light filling is provided for imaging sensor.When imaging sensor follows bracket to be advanced to close to part, it is typically due to block
Reason, light it is poor to may result at this time image definition than darker.For improving image definition, benefit can be used
Light lamp carries out light filling.The location information that the image information and sensors in place acquired in conjunction with imaging sensor acquires, just can determine that
The relative position of supporting arm and gripper components and part.In other words, whether supporting arm and gripper components have arrived at part attachment,
It can start grasping movement.Positioning component is positioning pin 109, and positioning pin 109 is mounted on the end frame of 102 front end of supporting arm
On 121.Location hole on positioning pin 109 and part cooperates, and end frame 121 and part are positioned.In the illustrated embodiment,
The position of positioning pin 109 is corresponding with the location hole on door components 301.When supporting arm 102 moves in place, positioning pin 109
It is inserted into the location hole on door components 301, the positioning of end frame and door components is realized by positioning pin and location hole.
After inductive component senses that supporting arm and gripper components are mobile in place, and positioning component completes positioning in position, portion is turned on the switch
Part starts electromagnet, and electromagnet is by magnetic-adsorption on door components.
Separation unit may be mounted on supporting arm 102, and separation unit movement separates the part of phase adhesion, so that magnetic
Power handgrip only grabs a part every time.In the illustrated embodiment, separation unit may be mounted on the supporting arm of top.Separation
Component includes separation cylinder 110 and separation plectrum 111.Separation plectrum 111 has the conical nose extended downwardly, separates cylinder
110 driving separation plectrums 111 move down, and conical nose is inserted between the part of phase adhesion, and the part of phase adhesion is separated.Figure
3a, 3b, 3c and 3d disclose the schematic diagram that the magnetic force handgrip of an embodiment according to the present invention separates part.Fig. 3 a and
Fig. 3 b discloses the overall schematic of door components separation.In fig. 3 a, when magnetic force handgrip adsorbs a door components, therewith
The door components of adhesion are also adsorbed together.After separation unit movement, with reference to shown in Fig. 3 b, the door components of adhesion are divided
From magnetic force handgrip only adsorbs a door components at this time.The section for the working condition that Fig. 3 c and Fig. 3 d disclose separation unit shows
It is intended to.With reference to shown in Fig. 3 c, two mutual adhesions of door components 301.Although adhesion state, two door components 301 it
Between be constantly present gap.At this time when separating the movement of cylinder 110, the conical nose of separation plectrum 111 will be inserted downwardly into
In the gap of two door components.As separation plectrum 111 moves down, the conical surface can gradually open two door components,
Since the adhesion of door components is mainly the adhesive force due to complex profile or the generation of preceding working procedure oil residues, the adhesive force
And it is insecure, under the effect of external force, it is easy to the adhesive force be overcome to make two door components separation.
Magnetic force handgrip of the invention increases the component of part separation, will do it part separation after crawl part every time,
Ensure only to grab a part every time.The magnetic force handgrip can be suitable for stack material frame, realize the automation of stack material frame
Work.And the handgrip replaces vacuum adsorption force with magnetic force, the reliability of magnetic part, use cost and service life are better than true
Empty component, therefore can further promote working efficiency and reliability.
Magnetic force handgrip of the invention does not increase while guaranteeing high vanning number especially suitable for common stack material frame
Expect frame cost of manufacture, logistic storage cost.Separating mechanism is simple and effective, cooperates extra quality detection sensor, and part is layered success rate
Reach 99% or more.Using magnetic force handgrip instead of conventional suction cups handgrip in the prior art, disappearing for compressed air is greatlyd save
Consumption, an annual compressed air consumption of vacuum generator reach hundreds of thousands of liters.
Above-described embodiment, which is available to, to be familiar with person in the art to realize or use the present invention, and is familiar with this field
Personnel can make various modifications or variation, thus this to above-described embodiment without departing from the present invention in the case of the inventive idea
The protection scope of invention is not limited by above-described embodiment, and should meet inventive features that claims are mentioned most
On a large scale.
Claims (10)
1. a kind of magnetic force handgrip, which is characterized in that including：
Pedestal, pedestal are installed on a robotic arm, and pedestal has the supporting arm of several extensions, the quantity of supporting arm and position and grabbed
The part taken is corresponding；
Driving mechanism, driving pedestal is mobile relative to material frame, and driving supporting arm is mobile relative to pedestal；
Gripper components are mounted on supporting arm, and gripper components are electromagnetic components, and gripper components are by magnetic-adsorption on part；
Positioning element, including location sensitive component and positioning component, location sensitive component incude supporting arm and gripper components and zero
The relative position of part, positioning component are positioned with part cooperation；
Separation unit is mounted on supporting arm, and separation unit movement separates the part of phase adhesion, so that magnetic force handgrip is each
Only grab a part.
2. magnetic force handgrip as described in claim 1, which is characterized in that the part of the magnetic force handgrip crawl is door components,
Supporting arm on the pedestal includes top supporting arm and lower section supporting arm, and top supporting arm is mounted on the top of pedestal, lower section
Supporting arm is mounted on the bottom of pedestal.
3. magnetic force handgrip as described in claim 1, which is characterized in that the front end of supporting arm is equipped with end frame.
4. magnetic force handgrip as claimed in claim 3, which is characterized in that the gripper components include electromagnet and switch block,
Several electromagnet are individually positioned in the electromagnet pedestal of different shaping, and electromagnet pedestal is mounted on the end branch of supporting arm front end
On frame.
5. magnetic force handgrip as claimed in claim 3, which is characterized in that the location sensitive component includes：
Imaging sensor is mounted on the end frame of supporting arm front end, and imaging sensor obtains image information；
Sensors in place is mounted on the end frame of supporting arm front end, and sensors in place obtains location information；
The relative position of supporting arm and gripper components and part is determined according to image information and location information.
6. magnetic force handgrip as claimed in claim 5, which is characterized in that the location sensitive component further includes light filling equipment, is mended
Light device is mounted on the end frame of supporting arm front end, and light filling equipment provides light filling for imaging sensor.
7. magnetic force handgrip as claimed in claim 3, which is characterized in that the positioning component is positioning pin, and positioning pin is mounted on
On the end frame of supporting arm front end, the location hole on positioning pin and part cooperates, and end frame and part are positioned.
8. magnetic force handgrip as claimed in claim 2, which is characterized in that the separation unit is mounted above on supporting arm, point
It include separation cylinder and separation plectrum from component, separation plectrum has the conical nose extended downwardly, separation cylinder driving separation
Plectrum moves down, and conical nose is inserted between the part of phase adhesion, and the part of phase adhesion is separated.
9. magnetic force handgrip as described in claim 1, which is characterized in that the material frame is stack material frame.
10. magnetic force handgrip as claimed in claim 9, which is characterized in that the pedestal is mounted on manipulator by connectivity port
On, movement of the robot drives pedestal relative to above and below material frame progress or left and right, before also driving supporting arm is carried out relative to pedestal
After move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810901364.5A CN108858266A (en) | 2018-08-09 | 2018-08-09 | Magnetic force handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810901364.5A CN108858266A (en) | 2018-08-09 | 2018-08-09 | Magnetic force handgrip |
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| CN108858266A true CN108858266A (en) | 2018-11-23 |
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| CN201810901364.5A Pending CN108858266A (en) | 2018-08-09 | 2018-08-09 | Magnetic force handgrip |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
| CN114700985A (en) * | 2022-04-01 | 2022-07-05 | 柳州柳新汽车冲压件有限公司 | Gripping apparatus |
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